Research on Response-Based Optimal Controller Design

本研究旨在为K.Furuta提出的基于响应的LQG设计方法开发计算机辅助设计程序包。该方法不使用状态空间或传递函数等参数模型。该控制器直接由马尔可夫参数等价于脉冲响应的马尔可夫参数进行设计，其最小实现产生了通常的状态空间补偿器。开发了基于响应的控制系统设计方法的计算机程序包，具有以下特点：1.根据测量的脉冲响应数据，开发了包括伺服控制器在内的控制器设计所需的程序包。提出了一种处理受噪声污染的脉冲响应测量的方法，其中如果系统噪声的协方差矩阵是可测的，则系统噪声对输出变量或受控变量的脉冲响应是不必要的。在控制输入约束下，利用线性矩阵不等式求解LQ最优控制，具有一定的实用价值。给出了H_无穷大最优控制器的响应数据控制算法。所开发的软件已用于某精馏塔的控制器设计，并通过仿真进行了评价，表明如果提供开发环境，该方法具有一定的实用价值。

This research is to develop the computer aided design package for the Response-based LQG design method which has been proposed by K.Furuta. This method does not use the parametric model like state space or transfer function. The controller is designed directly from the Markov parameters equivalent to impulse response in the form of the Markov parameters and its minimal realization yields an usual state space compensator.The computer package for the Response-based Control System Design Method has been developed which has following characteristics :1. From the measured impulse response data, the program package which is necessary for the design of the controller including servo controller has been developed.2. The method to treat the noise contaminated measurement of the impulse responses has been developed, where the impulse response from the system noise to the output or controlled variable is found not necessary if their covariance matrices are measurable.3. Under the constraint of the control input, the LQ optimal control is found to be computed by using LMI,which is useful in practice.4. The Response-data control algorithm for the H-infinity optimal controller has been developed.5. The developed package has been used for the controller design for a distilllation column and evaluated through simulation, which tells that the method may be useful practically if development environment is provided.